WO2019041232A1 - 减振装置和云台系统 - Google Patents

减振装置和云台系统 Download PDF

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Publication number
WO2019041232A1
WO2019041232A1 PCT/CN2017/099933 CN2017099933W WO2019041232A1 WO 2019041232 A1 WO2019041232 A1 WO 2019041232A1 CN 2017099933 W CN2017099933 W CN 2017099933W WO 2019041232 A1 WO2019041232 A1 WO 2019041232A1
Authority
WO
WIPO (PCT)
Prior art keywords
bracket
pan
plane
weight
motion
Prior art date
Application number
PCT/CN2017/099933
Other languages
English (en)
French (fr)
Inventor
陈子寒
杨健
Original Assignee
深圳市大疆灵眸科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆灵眸科技有限公司 filed Critical 深圳市大疆灵眸科技有限公司
Priority to EP17923449.7A priority Critical patent/EP3677516A4/en
Priority to PCT/CN2017/099933 priority patent/WO2019041232A1/zh
Priority to CN201780007021.8A priority patent/CN108698708B/zh
Publication of WO2019041232A1 publication Critical patent/WO2019041232A1/zh
Priority to US16/801,979 priority patent/US20200191225A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/08—Arrangements of cameras
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F7/00—Vibration-dampers; Shock-absorbers
    • F16F7/10—Vibration-dampers; Shock-absorbers using inertia effect
    • F16F7/1034—Vibration-dampers; Shock-absorbers using inertia effect of movement of a liquid
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/561—Support related camera accessories
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/04—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or holding steady relative to, a person, e.g. by chains, e.g. rifle butt or pistol grip supports, supports attached to the chest or head

Definitions

  • the present disclosure relates to the field of pan/tilt photography, and more particularly to a vibration damping device and a pan/tilt system.
  • the cloud platform is a supporting device for fixing image acquisition devices such as cameras and cameras, and is used to stabilize the image acquisition device.
  • the gimbal is a multi-frame tandem structure.
  • the gimbal itself has a large number of vibration modes (ie, resonance points). The existence of these vibration modes makes the mechanical response of the gimbal and the theoretical rigid body response very different, which makes it very difficult to design. .
  • these vibration modes will also cause the mechanical system to act on the pan/tilt in a multiplied manner when it is disturbed by the disturbance of the external modal frequency, which makes the pan/tilt jitter become larger and affects the image quality of the image acquisition device. .
  • the present disclosure proposes a vibration damping device which is not only simple in structure but also capable of achieving a better vibration damping effect.
  • a vibration damping device for a pan/tilt head comprising: a weight member, a bracket, and a damping material, wherein the bracket is mounted on the pan/tilt, the weight member and the weight The bracket is movably connected, and when the bracket is vibrated, the weight member moves relative to the bracket to drive a flow of damping material disposed between the weight member and the bracket.
  • the bracket is mounted on a yaw arm of the pan.
  • the bracket is mounted on one end of the yaw axle arm away from the roll axle arm of the pan.
  • the damping material comprises a damping grease.
  • the vibration damping device further includes a gap maintaining member
  • the bracket includes at least one first plane of motion, the weight member including at least one second plane of motion, the gap maintaining member causing a first motion plane of the bracket and a second motion of the weight member The plane moves relative to the preset gap.
  • the gap maintaining member is a rolling member or an elastic member.
  • the gap maintaining member is a rolling member
  • at least one first moving plane of the bracket and/or at least one second moving plane of the weight member is provided with a receiving the rolling member Install the slot.
  • the rolling member comprises at least one of a ball, a needle, and a roller.
  • the damping material is disposed between a first plane of motion of the bracket and a second plane of motion of the weight member.
  • the bracket includes at least one protrusion
  • the weight member is provided with a cavity, wherein the cavity receives at least a portion of the protrusion
  • first moving plane is formed on a convex portion of the bracket
  • second moving plane is formed on an inner wall of the cavity of the weight member
  • the gap maintaining member is formed on the convex portion
  • the weight member includes a first weight portion and a second weight portion, wherein the first weight portion is coupled to the second weight portion to form the cavity.
  • the bracket includes a mounting portion coupled to the projection, the bracket being mounted to the pan/tilt head by the mounting portion.
  • the bracket is provided with a receiving cavity, the receiving cavity receiving at least a portion of the weight member; wherein the first moving plane is formed on an inner wall of the receiving cavity of the bracket, The gap maintaining member moves the first moving plane formed on the inner wall of the receiving cavity and the second moving plane formed on the weight member in accordance with the predetermined gap.
  • the weight member is sealingly received within the receiving cavity.
  • the bracket includes a first cover and a second cover, wherein the first cover is coupled to the second cover to form the receiving cavity.
  • the bracket includes a mounting portion
  • the second cover further includes at least one support arm coupled to the mounting portion; the bracket is mounted to the cloud by the mounting portion On the stage.
  • the bracket further includes a locking portion for locking the mounting portion to the pan/tilt.
  • the damping device comprises a plurality of said weight components.
  • the plurality of weight members are movably coupled to the bracket in a symmetrically distributed manner.
  • the damping material is only filled in a gap between the first plane of motion and the second plane of motion.
  • a pan/tilt system comprising a pan/tilt and a vibration damping device, the pan/tilt head comprising a yaw axis arm and a carrier member, the carrier member being disposed in the At one end of the yaw axle arm, the damper device is disposed on the yaw axle arm away from the other end of the carrier member.
  • the damping device is for absorbing or reducing vibration of the yaw axle arm.
  • the load bearing member comprises at least one of a roll axle arm and a pitch axle arm coupled to the roll axle arm.
  • the vibration damping device includes a weight member, a bracket and a damping material, wherein the bracket is mounted on the pan/tilt, the weight member is movably coupled to the bracket when the bracket When subjected to vibration, the weight member moves relative to the bracket to drive a flow of damping material disposed between the weight member and the bracket.
  • the damping material comprises a damping grease.
  • the vibration damping device further includes a gap maintaining member, wherein the bracket includes at least one first motion plane, the weight member including at least one second motion plane, the gap maintaining member The first moving plane of the bracket and the second moving plane of the weight member are relatively moved according to a preset gap.
  • the gap maintaining member is a rolling member or an elastic member.
  • the gap maintaining member is a rolling member
  • at least one first moving plane of the bracket and/or at least one second moving plane of the weight member is provided with a receiving the rolling member Install the slot.
  • the rolling member comprises at least one of a ball, a needle, and a roller.
  • the damping material is disposed between a first plane of motion of the bracket and a second plane of motion of the weight member.
  • the bracket includes at least one protrusion
  • the weight member is provided with a cavity, wherein the cavity receives at least a portion of the protrusion
  • first moving plane is formed on a convex portion of the bracket
  • second moving plane is formed on an inner wall of the cavity of the weight member
  • the gap maintaining member is formed on the convex portion
  • the weight member includes a first weight portion and a second weight portion, wherein the first weight portion is coupled to the second weight portion to form the cavity.
  • the bracket includes a mounting portion coupled to the projection, the bracket being mounted to the pan/tilt head by the mounting portion.
  • the bracket is provided with a receiving cavity, the receiving cavity receiving at least a portion of the weight member; wherein the first moving plane is formed on an inner wall of the receiving cavity of the bracket, The gap maintaining member moves the first moving plane formed on the inner wall of the receiving cavity and the second moving plane formed on the weight member in accordance with the predetermined gap.
  • the weight member is sealingly received within the receiving cavity.
  • the bracket includes a first cover and a second cover, wherein the first cover is coupled to the second cover to form the receiving cavity.
  • the bracket includes a mounting portion
  • the second cover further includes at least one support arm coupled to the mounting portion; the bracket is mounted to the cloud by the mounting portion On the stage.
  • the bracket further includes a locking portion for locking the mounting portion to the pan/tilt.
  • the damping device comprises a plurality of said weight components.
  • the plurality of weight members are movably coupled to the bracket in a symmetrically distributed manner.
  • the damping material is only filled in a gap between the first plane of motion and the second plane of motion.
  • the pan/tilt system may include at least two damping devices, at least one of the at least two damping devices being mounted on a yaw axis arm of the platform.
  • the pan/tilt system may include three damper devices mounted on the yaw axis arm, the roll axis arm, and the pitch axis arm of the pan/tilt, respectively.
  • a vibration damping device comprising: a weight member, a bracket, and a damping material, wherein the bracket is mounted on a vibrating member, the weight member being movably coupled to the bracket, When the bracket is subjected to vibration, the weight member moves relative to the bracket to drive a flow of damping material disposed between the weight member and the bracket.
  • the damping material comprises a damping grease.
  • the vibration damping device further includes a gap maintaining member
  • the bracket includes at least one first plane of motion, the weight member including at least one second plane of motion, the gap maintaining member causing a first motion plane of the bracket and a second motion of the weight member The plane moves relative to the preset gap.
  • the gap maintaining member is a rolling member or an elastic member.
  • the gap maintaining member is a rolling member
  • at least one first moving plane of the bracket and/or at least one second moving plane of the weight member is provided with a receiving the rolling member Install the slot.
  • the rolling member comprises at least one of a ball, a needle, and a roller.
  • the damping material is disposed between a first plane of motion of the bracket and a second plane of motion of the weight member.
  • the bracket includes at least one protrusion
  • the weight member is provided with a cavity, wherein the cavity receives at least a portion of the protrusion
  • first moving plane is formed on a convex portion of the bracket
  • second moving plane is formed on an inner wall of the cavity of the weight member
  • the gap maintaining member is formed on the convex portion
  • the weight member includes a first weight portion and a second weight portion, wherein the first weight portion is coupled to the second weight portion to form the cavity.
  • the bracket includes a mounting portion coupled to the projection, the bracket being mounted on the vibrating member by the mounting portion.
  • the bracket is provided with a receiving cavity, the receiving cavity receiving at least a portion of the weight member; wherein the first moving plane is formed on an inner wall of the receiving cavity of the bracket, The gap maintaining member moves the first moving plane formed on the inner wall of the receiving cavity and the second moving plane formed on the weight member in accordance with the predetermined gap.
  • the weight member is sealingly received within the receiving cavity.
  • the bracket includes a first cover and a second cover, wherein the first cover is coupled to the second cover to form the receiving cavity.
  • the bracket includes a mounting portion
  • the second cover further includes at least one support arm coupled to the mounting portion; the bracket is mounted to the vibration by the mounting portion On the part.
  • the bracket further includes a locking portion for locking the mounting portion to the vibrating member.
  • the damping device comprises a plurality of said weight components.
  • the plurality of weight members are movably coupled to the bracket in a symmetrically distributed manner.
  • the damping material is only filled in a gap between the first plane of motion and the second plane of motion.
  • the vibration damping device not only simplifies the structure of the vibration damping device, but also reduces or even eliminates the vibration amplitude in a plurality of vibration modes in a wide frequency range, thereby achieving a better vibration damping effect.
  • FIG. 1 is a perspective view of a vibration damping device in accordance with an embodiment of the present disclosure
  • Figure 2 is a cross-sectional view of the vibration damping device shown in Figure 1;
  • FIG 3 is a partial schematic view of the bracket of the vibration damping device shown in Figure 1;
  • 4(a) and 4(b) are schematic views schematically showing an alternative distribution of weight members
  • FIG. 5 is a perspective view of a vibration damping device according to another embodiment of the present disclosure.
  • Figure 6 is a perspective view of the vibration damping device shown in Figure 5, showing a portion of the internal structure
  • Figure 7 is a partial cross-sectional view of the vibration damping device shown in Figure 5;
  • Figure 8 is a plan view of the vibration damping device shown in Figure 7;
  • FIG. 9 is a perspective schematic view of a pan/tilt mounted with a vibration damping device according to an embodiment of the present disclosure.
  • FIG. 10 is a perspective schematic view of a gimbal mounted with a vibration damping device according to another embodiment of the present disclosure.
  • vibration mode or “vibration mode” is the natural vibration characteristic of a certain structure or component, each mode has a specific natural frequency, a damping ratio, and a mode shape; when an external vibration is applied When the vibration frequency or the vibration frequency of the excitation vibration is equal to the natural frequency of the structure or component, resonance occurs, specifically as the amplitude is amplified. In this paper, the amplitude of the structure or component resonance is described as “resonance amplitude. ".
  • narrowband or “broadband range” herein refers to a frequency range formed by the natural frequencies of a plurality of vibration modes, rather than a single natural frequency of a vibration mode.
  • a "moving plane" of a component refers to a plane of the component that is relatively movable relative to an adjacent component.
  • an X-Y-Z coordinate system is established to facilitate the description of different directions. It should be understood that the description of the directionality is for convenience of description and is not a limitation of the embodiments of the present disclosure.
  • the X direction, the Y direction, and the Z direction may be any orientation as long as they are perpendicular to each other.
  • the X direction can be parallel to the
  • the pitch axis (pitch axis) of the pan/tilt head may be parallel to the roll axis (roll axis) of the pan/tilt head
  • the Z direction may be parallel to the yaw axis (yaw axis) of the pan/tilt head.
  • a pan/tilt can be used to carry a load, such as an imaging device, which can be a camera, a camera or a lens, and the like.
  • the pan/tilt can be mounted on a movable object such as an unmanned aerial vehicle, a movable railcar or an unmanned vehicle. When the pan/tilt is held by a user, the pan/tilt becomes a handheld device.
  • the vibration damping device 10 may include a bracket 12, a weight member 14 and a damping material 16, and the bracket 12 may be mounted on any vibrating member, wherein the vibrating member is a member capable of causing vibration or being disturbed by vibration, and the weight member 14 can be movably coupled to the bracket 12, and when the bracket 12 is subjected to vibration, the weight member 14 can move relative to the bracket 12 to drive the flow of the damping material 16 disposed between the weight member 14 and the bracket 12.
  • the vibration damping device 10 when the vibration damping device 10 is mounted to the vibrating member, for example, when the bracket 12 of the vibration damping device 10 is mounted to a position where the resonance amplitude of the vibration member is higher or highest, when the vibration member When vibrating, the bracket 12 vibrates in response to vibration of the vibrating member.
  • the weight member 14 since the weight member 14 is movably connected to the bracket 12, and since the weight of the weight member 14 itself is large, under the inertia of the weight member 14, the weight member 14 tends to remain stationary, so the bracket 12 and Relative movement between the weight members 14 causes the damping material 16 disposed between the weight members 14 and the bracket 12 to flow.
  • the flowing damping material 16 absorbs the vibrational energy, thereby reducing, or even eliminating, the vibration of the vibrating component at that location. It should be understood herein that the greater the weight of the weight member 14, the stronger its ability to remain immobile due to inertia, and the more likely the relative movement between the bracket 12 and the weight member 14 is.
  • the conventional dynamic vibration absorber generally includes at least a mass and a spring, and the force generated by the spring of the vibration absorber on the main system can cancel some or most of the external excitation acting on the main system through the dynamic action of the mass.
  • the vibration force weakens the vibration of the main system, which is equivalent to transferring the vibration energy of the main system to the dynamic vibration absorber.
  • a conventional dynamic vibration absorber is generally used to absorb the vibration of a natural frequency in a certain vibration mode, that is, its vibration damping is limited to a single vibration mode.
  • the damping device can absorb the vibration of the wide frequency by providing the damping material between the relatively moving weight member and the bracket. That is, the vibration damping device according to an embodiment of the present disclosure may not include a spring such that it is not limited to only absorbing or reducing the natural frequency of a single vibration mode. vibration.
  • the vibration damping device 10 may further include a gap maintaining member 18.
  • the bracket 12 includes at least one first motion plane 121
  • the weight member 14 includes at least one second motion plane 141 that causes the first motion plane 121 of the bracket 12 and the second motion plane 141 of the weight member 14. Relative motion according to the preset gap. That is, the gap maintaining member 18 is such that when the first moving plane 121 of the bracket 12 and the second moving plane 141 of the weight member 14 move relative to each other, the first moving plane 121 of the bracket 12 and the weight member 14 A preset gap is maintained between the second motion planes 141.
  • the damping material 16 may comprise a semi-liquid damping material, such as a damping grease. Damping material 16 may be disposed between first motion plane 121 of bracket 12 and second motion plane 141 of weight member 14.
  • the bracket 12 when the bracket 12 vibrates following the vibrating member, the bracket 12 moves relative to the weight member 14 at least in the X direction in the drawing, and in the Z direction perpendicular to the X direction, the weight member 14 is A gap 15 is formed between the brackets 12, and the damping material 16 is filled in the gaps 15.
  • the gap holding member 18 of the vibration damping device is for maintaining the dimension of the gap 15 in the Z direction.
  • the thickness of the damping material 16 filled in the gap 15 is maintained at a predetermined size, and the damping material 16 having a predetermined thickness may be the second moving plane 141 of the relatively moving weight member and the first of the bracket 12.
  • the motion plane 121 provides a predetermined damping force.
  • the gap maintaining member 18 may be a rolling member or an elastic member.
  • the rolling member may include at least one of a ball, a needle, and a roller.
  • the elastic member may include a spring or a thin steel sheet or the like.
  • the gap maintaining member 18 is a rolling member
  • the first moving plane 121 of the bracket 12 is provided with a mounting groove 123 for accommodating the rolling member
  • the second moving plane 141 of the weight member 14 is provided with a mounting groove 123 for accommodating the rolling member
  • a mounting groove 143 for accommodating the rolling member is disposed thereon.
  • a mounting slot 123 and a corresponding one of the mounting slots 143 cooperate to form a receiving portion that receives or houses one of the rolling members.
  • the mounting groove 123 may have a first depth (ie, a recessed size), the corresponding mounting groove 143 may have a second depth (ie, a recessed size), and the rolling member may have a first thickness
  • the first thickness of the rolling member is greater than a sum of the first depth and the second depth.
  • the first thickness of the rolling member is subtracted from the first depth and The difference between the sum of the second depths forms a preset size of the gap 15.
  • a mounting groove for accommodating the rolling member may be provided on one of the first moving plane 121 of the bracket 12 or the second moving plane 141 of the weight member 14, that is, only in the bracket 12
  • a mounting groove 123 for accommodating the rolling member is provided on a moving plane 121 or a mounting groove 143 for accommodating the rolling member is provided only on the second moving plane 141 of the heavy member 14.
  • the rolling member may be placed in the mounting groove 123 or in the mounting groove 143, and the first thickness of the rolling member is greater than the first depth of the mounting groove 123 or the second depth of the mounting groove 143 .
  • the damping material 16 located in the gap 15 can provide a damping force that satisfies a preset requirement.
  • the damping material 16 may be filled only in the gap 15 in the Z direction between the bracket 12 and the weight member 14.
  • the gap maintaining member 18 can be disposed between the bracket 12 and the weight member 14, for example, when the gap maintaining member 18 is a rolling member, the rolling member can be disposed on the bracket 12.
  • the first motion plane 121 is between the second motion plane 141 of the weight member 14.
  • the gap maintaining member 18 when the gap maintaining member 18 is an elastic member (eg, a spring, a thin steel sheet), the elastic member may be disposed on the first moving plane 121 and the weight member 14 except the bracket 12. Other positions than between the second moving planes 141 may be provided as long as the elastic member can maintain the gap 15 between the first moving plane 121 and the second moving plane 141. At this time, like the rolling member described above, the elastic member serves to maintain the gap 15 between the first moving plane 121 and the second moving plane 141 to ensure that the damping material 16 located in the gap 15 can Provides damping force that meets preset requirements.
  • the elastic member serves to maintain the gap 15 between the first moving plane 121 and the second moving plane 141 to ensure that the damping material 16 located in the gap 15 can Provides damping force that meets preset requirements.
  • the bracket 12 can include at least one projection 122 that is configured with a cavity for receiving at least a portion of the projection 122.
  • the weight member 14 can include a first weight portion 142 and a second weight portion 144 that are coupled to the second weight portion 144 to form the cavity.
  • the first moving plane 121 may be formed on the protrusion 122 of the bracket 12, and the second plane of motion 141 may be formed on the inner wall of the cavity of the weight member 14, the gap maintaining member 18 being formed in the a first plane of motion 121 on the protrusion 122 and a second plane of motion formed on an inner wall of the cavity 141 can move relative to the preset gap.
  • the bracket 12 may further include a mounting portion 124 coupled to the protruding portion 122, and the bracket 12 is mounted on the vibrating member by the mounting portion 124.
  • the bracket 12 may include two protrusions 122
  • the vibration damping device 10 may include two weight members 14.
  • the two protruding portions 122 respectively extend from the mounting portion 124 in the X direction, and the two weight members 14 are respectively disposed on a side of the two protruding portions 122 away from the mounting portion 124. That is, the two projections 122 and the respective weight members 14 form a symmetrical structure with respect to the mounting portion 124.
  • Each of the projections 122 forms a "cantilever" configuration, and as shown, each of the projections 122 has two first motion planes 121.
  • Each of the weight members 14 includes a first weight portion 142 and a second weight portion 144.
  • the surface of the first weight portion 142 facing the first motion plane 121 constitutes a second motion plane 141
  • the second weight portion 144 faces The other surface of the first plane of motion 121 constitutes another second plane of motion 141.
  • a gap 15 is formed between a first motion plane 121 and a corresponding second motion plane 141, and the damping material 16 is filled in the gap 15.
  • Another gap 15 is formed between the other first plane of motion 121 and the other second plane of motion 141, and the damping material 16 is also filled in the other gap 15.
  • FIG. 3 shows a schematic view of a portion of a stent 12 in accordance with an exemplary embodiment of the present disclosure.
  • the projection 122 has a "I" cantilever structure, that is, the projection 122 has two flat portions 1221, 1222 and a vertical partition sandwiched between the two flat portions. 1223.
  • a first moving plane 121 is formed on each of the flat portions 1221 and 1222, and the mounting groove 123 is formed on the first moving plane 121.
  • the mounting portion 124 of the bracket 12 may be formed in a variety of configurations suitable for mating with the structure of the vibrating member.
  • the mounting portion 124 is formed as a closed structure having a rounded triangular shape to surround and engage the vibrating member.
  • the vibration damping device 10 can include more (eg, more than two) weight components 14.
  • the plurality of weight members 14 are movably coupled to the bracket 12 in a symmetrically distributed manner.
  • the circular pattern therein schematically represents the mounting portion of the bracket
  • the vibration damping device may include four weight members 14, each two Adjacent weight components 14 It can be separated by 90°.
  • the vibration damping device may include three weight members 14, each of which is spaced apart by 120 degrees.
  • the bracket can move relative to the weight member in a plurality of directions, thereby being capable of reducing the vibration Vibration of the component in multiple directions.
  • the bracket 12 can also include a locking portion 126 for locking the mounting portion 124 to the vibrating member.
  • the locking portion 126 can include an operating portion 1262 for engaging with the damping member, and an engaging portion 1264 that can be operated to cause the engagement The portion 1264 releases and/or locks the damping component.
  • the joint 1264 can be arcuate in shape to engage the shaft of the vibrating component.
  • the vibration damping device 20 can include a bracket 22, a weight member 24, and a damping material 26 that can be mounted on any vibrating member, and the weight member 24 can be movably coupled to the bracket 22 when When the bracket 22 is subjected to vibration, the weight member 24 can move relative to the bracket 22 to drive the flow of the damping material 26 disposed between the weight member 24 and the bracket 22.
  • the bracket 22 may be provided with a receiving cavity that houses at least a portion of the weight member 24.
  • the receiving cavity houses the entire weight member 24.
  • the vibration damping device 20 may further include a gap maintaining member 28.
  • the bracket 22 includes at least one first motion plane 221
  • the weight member 24 includes at least one second motion plane 241 that causes the first motion plane 221 of the bracket 22 and the second motion plane 241 of the weight member 24. Relative motion according to the preset gap.
  • the first moving plane 221 may be formed on an inner wall of the receiving cavity of the bracket 22, and the second moving plane 241 may be formed on the inner wall of the weight member 24.
  • the gap maintaining member 28 is such that the first moving plane 221 formed on the inner wall of the receiving cavity and the second moving plane 241 formed on the weight member 24 are opposed to the predetermined gap motion.
  • the damping material 26 may comprise a semi-liquid damping material, such as a damping grease. Damping material 26 may be disposed between first motion plane 221 of bracket 22 and second motion plane 241 of weight member 24.
  • the bracket 22 can include a first cover 2251 and a second cover 2252, wherein The first cover 2251 is coupled to the second cover 2252 to form the receiving cavity.
  • the bracket 22 may further include a sealing member such that the weight member 24 is hermetically received in the receiving cavity to prevent the damping material 26 from being contaminated by external moisture, dust, or the like.
  • first cover 2251 and the second cover 2252 are detachably connected, for example, by bolts, screws, or the like, such that the first cover 2251 and the second cover 2252 can be separated to open.
  • the receiving cavity may be engaged to close the receiving cavity.
  • the bracket 22 may include a mounting portion 224 for mounting to the vibrating member
  • the second cover 2252 may include at least one support arm, for example, two support arms 2281, 2282, the support The arms 2281, 2282 are all connected to the mounting portion 224.
  • the shape of the mounting portion 224 may be similar to the shape of the mounting portion 124 described above, and details are not described herein again.
  • the second cover 2252 and the support arms 2281, 2282 may be integrally formed, and the support arms 2281, 2282 are connected to the mounting portion 224 by bolts or the like. As shown, the second cover 2252 and the two support arms 2281, 2282 can form a "C" shaped structure with the mounting portion 224 sandwiched between the openings of the "C" shaped structure.
  • the gap maintaining member 28 may also be a rolling member or an elastic member.
  • the rolling member may include at least one of a ball, a needle, and a roller.
  • the elastic member may include a spring or a thin steel sheet or the like.
  • the gap maintaining member 28 is a rolling member
  • the first moving plane 221 of the bracket 22 is provided with a mounting groove for accommodating the rolling member
  • the first portion of the weight member 24 is disposed on the second moving plane 241.
  • a mounting groove provided by the first moving plane 221 and a mounting groove provided by the corresponding second moving plane 241 cooperate to form a receiving portion that receives or accommodates one of the rolling members.
  • the mounting groove on the first moving plane 221 may have a first depth (ie, a recessed dimension), and the corresponding mounting groove on the second moving plane 241 may have a second depth (ie, a recess) Dimensions), the rolling member may have a first thickness, the first thickness of the rolling member being greater than a sum of the first depth and the second depth.
  • the difference in the first thickness of the rolling member minus the sum of the first depth and the second depth forms a predetermined size of the gap 25.
  • a mounting groove for accommodating the rolling member may be provided on one of the first moving plane 221 of the bracket 22 or the second moving plane 241 of the weight member 24, that is, only in the bracket 22
  • a mounting groove for accommodating the rolling member or a second moving plane 241 only for the heavy member 24 is provided on a moving plane 221.
  • a mounting groove for accommodating the rolling member is disposed.
  • the rolling member may be placed in a mounting groove of the bracket or in a mounting groove of the weight member, and the first thickness of the rolling member is greater than a first depth of the mounting groove of the bracket or a second depth of the mounting groove of the weight member.
  • the damping material 26 located in the gap 25 can provide a damping force that satisfies a preset requirement.
  • the damping material 26 may be filled only in the gap 25 between the bracket 22 and the weight member 24 in the Z direction without being filled in the bracket 22 and the weight member 24. In other gaps between.
  • the gap maintaining member 28 can be disposed between the bracket 22 and the weight member 24, for example, when the gap maintaining member 28 is a rolling member, the rolling member can be disposed on the bracket 22.
  • the first movement plane 221 is between the second movement plane 241 of the weight member 24.
  • the gap maintaining member 28 is an elastic member (eg, a spring, a thin steel sheet)
  • the elastic member may be disposed on the first moving plane 221 and the weight member 24 except the bracket 22.
  • Other positions than between the second moving planes 241 may be provided as long as the elastic member can maintain the gap 25 between the first moving plane 221 and the second moving plane 241.
  • first cover 2251 faces the inner surface of the weight member 24 and the second cover 2252 faces the inner surface of the weight member 24 to form the first movement plane 221 of the bracket, respectively.
  • the surface of the weight member 24 opposite to the two moving planes 221 i.e., the upper and lower surfaces of the weight member 24 shown in Fig. 8) respectively forms a second moving plane 241.
  • a first motion plane 221 eg, the inner surface of the first cover 2051
  • second motion plane 241 eg, the upper surface of the weight member 24
  • Another first motion plane 221 eg, the inner surface of the second cover 2052
  • another corresponding second motion plane 241 eg, the lower surface of the weight member 24
  • damping Material 26 is also filled in the other gap 25.
  • the gap retaining member 28 when the gap retaining member 28 is a ball, in a first motion plane 221 between the second motion planes 241 corresponding thereto, at least three of the balls may be disposed. Since three balls can define one plane, it is ensured that a uniform gap is formed between the entire first motion plane 221 and its corresponding second motion plane 241. In the illustrated embodiment, for example, between one first motion plane 221 and its corresponding second motion plane 241, eight of said balls may be provided. It should be understood that when the gap holding member 28 is a needle or a roller, less than three of the needles or rollers may be disposed, and the second corresponding to the first motion plane 221 can still be secured. A uniform gap is formed between the motion planes 241.
  • the bracket 22 can also include a locking portion 226 for locking the mounting portion 224 to the vibrating member.
  • the locking portion 226 can include an operating portion 2262 for engaging with the damping member, and an engaging portion 2264 that can be operated to cause the engagement The portion 2264 releases and/or locks the damping component.
  • vibration damping devices 10, 20 according to embodiments of the present disclosure have been described above in conjunction with the drawings, and the embodiments of the present disclosure will be further described below in conjunction with specific applications.
  • the vibration damping device 10 may be mounted on the platform 100 as shown in FIG.
  • the platform 100 includes at least a yaw axis arm 1002 and a carrier member.
  • the load bearing member includes at least one of a roll axis arm and a pitch axis arm coupled to the roll axis arm.
  • the carrier member includes a roll axis arm 1004 and a pitch axis arm 1006 coupled to the roll axis arm 1004.
  • the carrier member is used to carry a load, such as camera 1010. It should be noted that other structures of the gimbal 100 can refer to the gimbal structure in the prior art, and details are not described herein again.
  • the vibration amplitude of the yaw axis arm 1002 is large when shooting using the pan/tilt head 100, and the vibration amplitude is at the end portion 1002A of the yaw axis arm 1002 away from the carrier member.
  • the larger phenomenon is especially noticeable. Therefore, in the embodiment of the present disclosure, as shown in FIG. 9, the vibration damping device 10 according to an embodiment of the present disclosure is disposed on the yaw axis arm 1002.
  • the carrier member is disposed on one end portion 1002B of the yaw axis arm 1002, and the damper device 10 is disposed on the yaw axis arm 1002 away from the other end portion 1002A of the carrier member .
  • the vibration damping device 10 can better absorb or reduce or even eliminate the vibration of the yaw axis arm 1002.
  • the vibration damping device 10 since the vibration damping device 10 is disposed at the end portion 1002A, the vibration at the end of the yaw axis arm 1002 can be sufficiently absorbed or reduced, or even eliminated, thereby better solving the vibration amplitude of the yaw axis arm. Bigger problem.
  • the vibration damping device 10 can minimize or even eliminate the vibration of the large vibration amplitude of the pan/tilt head 100, thereby achieving a better vibration damping effect and improving image capturing quality.
  • the vibration damping device since the gimbal is a multi-frame tandem structure, the gimbal itself has a large number of vibration modes, so the vibration damping device according to the embodiment of the present disclosure is particularly suitable for the gimbal to reduce the plurality of vibration modes of the gimbal.
  • the resonance amplitude of the natural frequency below provides an effective damping effect for the gimbal.
  • the platform 100 may further include a yaw axis balance adjustment device 1012.
  • the yaw axis balance adjustment device 1012 may also be used to mount a battery, ie, it forms a battery holder.
  • the damper device 10 and the yaw axis balance adjusting device 1012 disposed on the yaw axis arm 1002 may be respectively disposed on both sides of the yaw axis, that is, on both sides of the yaw axis. In this way, the balance of the yaw axis arm can be better realized, thereby better ensuring the balance of the gimbal.
  • the vibration damping device 20 may also be mounted on the platform 200 as shown in FIG.
  • the pan/tilt 200 includes at least a yaw axis arm 2002 and a carrier member.
  • the load bearing member includes at least one of a roll axis arm and a pitch axis arm coupled to the roll axis arm.
  • the load bearing member includes a roll axle arm 2004 and a pitch axle arm 2006 coupled to the roll axle arm 2004.
  • the carrier member is used to carry a load, such as camera 2010. It should be noted that other structures of the gimbal 200 can refer to the gimbal structure in the prior art, and details are not described herein again.
  • the vibration amplitude of the yaw axis arm 2002 is large when shooting using the pan/tilt head 200, and the vibration amplitude is at the end portion 2002A away from the carrier member on the yaw axis arm 2002.
  • the larger phenomenon is especially noticeable. Therefore, in the embodiment of the present disclosure, as shown in FIG. 10, the vibration damping device 20 according to the embodiment of the present disclosure is disposed on the yaw axis arm 2002.
  • the carrier member is disposed on one end portion 2002B of the yaw axis arm 2002
  • the damper device 20 is disposed on the yaw axis arm 2002 away from the other end portion 2002A of the carrier member .
  • the vibration damping device 20 can better absorb or reduce or even eliminate the vibration of the yaw axis arm 2002.
  • the vibration damping device 20 since the vibration damping device 20 is disposed at the end portion 2002A, the vibration at the end of the yaw axis arm 2002 can be sufficiently absorbed or reduced, or even eliminated, thereby better solving the vibration amplitude of the yaw axis arm. Bigger problem.
  • the vibration damping device 20 can minimize or even eliminate the vibration of the large vibration amplitude of the pan/tilt head 200, thereby achieving a better vibration damping effect and improving the image capturing quality.
  • the vibration damping device since the gimbal is a multi-frame tandem structure, the gimbal itself has a large number of vibration modes, so the vibration damping device according to the embodiment of the present disclosure is particularly suitable for the gimbal to reduce the plurality of vibration modes of the gimbal.
  • the resonance amplitude of the natural frequency below provides an effective damping effect for the gimbal.
  • the platform 200 may further include a yaw axis balance adjustment device 2012
  • the yaw axis balance adjustment device 2012 can also be used to mount a battery, that is, it forms a battery holder, and the damper device 20 and the yaw axis balance adjustment device 2012 disposed on the yaw axis arm 2002 can respectively Set on both sides of the yaw axis, that is, on both sides of the yaw axis. In this way, the balance of the yaw axis arm can be better realized, thereby better ensuring the balance of the gimbal.
  • a pan/tilt head system including the pan/tilt heads 100, 200 and the above-described damper devices 10, 20.
  • the pan/tilt system may include at least two of the damper devices 10, 20, at least one of the at least two of the damper devices 10, 20 being disposed at the yaw axis arm 1002 , 2002.
  • the pan/tilt system may include three of the damper devices 10, 20, and the three damper devices 10, 20 are respectively disposed on the yaw axis arm 1002/2002, horizontally Roller arm 1004/2004 and pitch arm 1006/2006.
  • the vibration damping device according to the embodiment of the present disclosure on the pan/tilt, the vibration amplitude of the plurality of vibration modes can be reduced in a wide frequency range, and the active vibration suppression performance of the pan/tilt head is improved. Thereby, the sensitivity of the gimbal to vibration interference is reduced.

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Abstract

一种减振装置（10、20）和云台系统（100、200），减震装置（10、20）包括：配重部件（14、24）、支架（12、22）和阻尼材料（16、26），支架（12、22）安装在云台上，配重部件（14、24）与支架（12、22）活动连接，当支架（12、22）受到振动时，配重部件（14、24）与支架（12、22）相对运动以带动设置在配重部件（14、24）与支架（12、22）之间的阻尼材料（16、26）流动。

Description

减振装置和云台系统
版权申明
本专利文件披露的内容包含受版权保护的材料。该版权为版权所有人所有。版权所有人不反对任何人复制专利与商标局的官方记录和档案中所存在的该专利文件或者专利披露。
技术领域
本公开涉及云台拍摄技术领域，更具体地涉及一种减振装置和云台系统。
背景技术
云台是固定相机、摄像机等影像获取设备的支撑设备，用于对影像获取设备增稳。然而，云台是多框架串联结构，云台本身存在大量振动模态(即共振点)，这些振动模态的存在使得云台的机械响应和理论刚体响应差别很大，导致控制上非常难设计。同时，这些振动模态还会使机械系统在受到外界接近模态频率的扰动干扰时，将干扰成倍放大地作用在云台上，使得云台抖动变大，影响图像获取设备的影像拍摄质量。
发明内容
为了解决上述技术问题中的至少一个方面，本公开提出了一种减振装置，该减振装置不仅结构简单，而且能够实现较好的减振效果。
根据本公开的第一方面，提高了一种云台的减振装置，包括：配重部件、支架和阻尼材料，其中，所述支架安装在所述云台上，所述配重部件与所述支架活动连接，当所述支架受到振动时，所述配重部件与所述支架相对运动以带动设置在所述配重部件与所述支架之间的阻尼材料流动。
根据某些实施例，所述支架安装在所述云台的偏航轴臂上。
根据某些实施例，所述支架安装在所述偏航轴臂上远离所述云台的横滚轴臂的一端上。
根据某些实施例，所述阻尼材料包括阻尼脂。
根据某些实施例，所述减振装置还包括间隙维持部件，
其中，所述支架包括至少一个第一运动平面，所述配重部件包括至少一个第二运动平面，所述间隙维持部件使得所述支架的第一运动平面与所述配重部件的第二运动平面按照预设间隙相对运动。
根据某些实施例，所述间隙维持部件为滚动部件或弹性部件。
根据某些实施例，当所述间隙维持部件为滚动部件时，所述支架的至少一个第一运动平面和/或配重部件的至少一个第二运动平面上设置有容置所述滚动部件的安装槽。
根据某些实施例，所述滚动部件包括滚珠、滚针、滚柱中的至少一种。
根据某些实施例，所述阻尼材料设置在所述支架的第一运动平面和所述配重部件的第二运动平面之间。
根据某些实施例，所述支架包括至少一个凸伸部，所述配重部件设置有腔体，其中所述腔体收容所述凸伸部的至少一部分；
其中，所述第一运动平面形成于所述支架的凸伸部上，所述第二运动平面形成于所述配重部件的腔体的内壁上，所述间隙维持部件使得形成在所述凸伸部上的第一运动平面与形成在所述腔体的内壁上的第二运动平面按照所述预设间隙相对运动。
根据某些实施例，所述配重部件包括第一配重部和第二配重部，其中所述第一配重部与所述第二配重部连接以形成所述腔体。
根据某些实施例，所述支架包括与所述凸伸部连接的安装部，所述支架通过所述安装部安装在所述云台上。
根据某些实施例，所述支架设置有收容腔，所述收容腔收容所述配重部件的至少一部分；其中，所述第一运动平面形成于所述支架的收容腔的内壁上，所述间隙维持部件使得形成在所述收容腔的内壁上的第一运动平面与形成在所述配重部件上的第二运动平面按照所述预设间隙相对运动。
根据某些实施例，所述配重部件被密封地收容在所述收容腔内。
根据某些实施例，所述支架包括第一盖体和第二盖体，其中，所述第一盖体与所述第二盖体连接以形成所述收容腔。
根据某些实施例，所述支架包括安装部，所述第二盖体还包括至少一个支撑臂，所述支撑臂与所述安装部连接；所述支架通过所述安装部安装在所述云台上。
根据某些实施例，所述支架还包括锁紧部，所述锁紧部用于将所述安装部锁紧在所述云台上。
根据某些实施例，所述减振装置包括多个所述配重部件。
根据某些实施例，所述多个配重部件以对称分布的方式活动连接在所述支架上。
根据某些实施例，所述阻尼材料仅填充于所述第一运动平面与所述第二运动平面之间的间隙中。
根据本公开的第二方面，还提供一种云台系统，所述云台系统包括云台和减振装置，所述云台包括偏航轴臂和承载部件，所述承载部件设置在所述偏航轴臂的一个端部上，所述减振装置设置在所述偏航轴臂上远离所述承载部件的另一端部上。
根据某些实施例，所述减振装置用于吸收或减小所述偏航轴臂的振动。
根据某些实施例，所述承载部件包括横滚轴臂、与横滚轴臂连接的俯仰轴臂中的至少一种。
根据某些实施例，所述减振装置包括配重部件、支架和阻尼材料，其中，所述支架安装在所述云台上，所述配重部件与所述支架活动连接，当所述支架受到振动时，所述配重部件与所述支架相对运动以带动设置在所述配重部件与所述支架之间的阻尼材料流动。
根据某些实施例，所述阻尼材料包括阻尼脂。
根据某些实施例，所述减振装置还包括间隙维持部件，其中，所述支架包括至少一个第一运动平面，所述配重部件包括至少一个第二运动平面，所述间隙维持部件使得所述支架的第一运动平面与所述配重部件的第二运动平面按照预设间隙相对运动。
根据某些实施例，所述间隙维持部件为滚动部件或弹性部件。
根据某些实施例，当所述间隙维持部件为滚动部件时，所述支架的至少一个第一运动平面和/或配重部件的至少一个第二运动平面上设置有容置所述滚动部件的安装槽。
根据某些实施例，所述滚动部件包括滚珠、滚针、滚柱中的至少一种。
根据某些实施例，所述阻尼材料设置在所述支架的第一运动平面和所述配重部件的第二运动平面之间。
根据某些实施例，所述支架包括至少一个凸伸部，所述配重部件设置有腔体，其中所述腔体收容所述凸伸部的至少一部分；
其中，所述第一运动平面形成于所述支架的凸伸部上，所述第二运动平面形成于所述配重部件的腔体的内壁上，所述间隙维持部件使得形成在所述凸伸部上的第一运动平面与形成在所述腔体的内壁上的第二运动平面按照所述预设间隙相对运动。
根据某些实施例，所述配重部件包括第一配重部和第二配重部，其中所述第一配重部与所述第二配重部连接以形成所述腔体。
根据某些实施例，所述支架包括与所述凸伸部连接的安装部，所述支架通过所述安装部安装在所述云台上。
根据某些实施例，所述支架设置有收容腔，所述收容腔收容所述配重部件的至少一部分；其中，所述第一运动平面形成于所述支架的收容腔的内壁上，所述间隙维持部件使得形成在所述收容腔的内壁上的第一运动平面与形成在所述配重部件上的第二运动平面按照所述预设间隙相对运动。
根据某些实施例，所述配重部件被密封地收容在所述收容腔内。
根据某些实施例，所述支架包括第一盖体和第二盖体，其中，所述第一盖体与所述第二盖体连接以形成所述收容腔。
根据某些实施例，所述支架包括安装部，所述第二盖体还包括至少一个支撑臂，所述支撑臂与所述安装部连接；所述支架通过所述安装部安装在所述云台上。
根据某些实施例，所述支架还包括锁紧部，所述锁紧部用于将所述安装部锁紧在所述云台上。
根据某些实施例，所述减振装置包括多个所述配重部件。
根据某些实施例，所述多个配重部件以对称分布的方式活动连接在所述支架上。
根据某些实施例，所述阻尼材料仅填充于所述第一运动平面与所述第二运动平面之间的间隙中。
根据某些实施例，所述云台系统可以包括至少两个减振装置，所述至少两个减振装置中的至少一个安装在所述云台的偏航轴臂上。
根据某些实施例，所述云台系统可以包括三个减振装置，所述三个减振装置分别安装在所述云台的偏航轴臂、横滚轴臂和俯仰轴臂上。
根据本公开的第三方面，提高了一种减振装置，包括：配重部件、支架和阻尼材料，其中，所述支架安装在振动部件上，所述配重部件与所述支架活动连接，当所述支架受到振动时，所述配重部件与所述支架相对运动以带动设置在所述配重部件与所述支架之间的阻尼材料流动。
根据某些实施例，所述阻尼材料包括阻尼脂。
根据某些实施例，所述减振装置还包括间隙维持部件，
其中，所述支架包括至少一个第一运动平面，所述配重部件包括至少一个第二运动平面，所述间隙维持部件使得所述支架的第一运动平面与所述配重部件的第二运动平面按照预设间隙相对运动。
根据某些实施例，所述间隙维持部件为滚动部件或弹性部件。
根据某些实施例，当所述间隙维持部件为滚动部件时，所述支架的至少一个第一运动平面和/或配重部件的至少一个第二运动平面上设置有容置所述滚动部件的安装槽。
根据某些实施例，所述滚动部件包括滚珠、滚针、滚柱中的至少一种。
根据某些实施例，所述阻尼材料设置在所述支架的第一运动平面和所述配重部件的第二运动平面之间。
根据某些实施例，所述支架包括至少一个凸伸部，所述配重部件设置有腔体，其中所述腔体收容所述凸伸部的至少一部分；
其中，所述第一运动平面形成于所述支架的凸伸部上，所述第二运动平面形成于所述配重部件的腔体的内壁上，所述间隙维持部件使得形成在所述凸伸部上的第一运动平面与形成在所述腔体的内壁上的第二运动平面按照所述预设间隙相对运动。
根据某些实施例，所述配重部件包括第一配重部和第二配重部，其中所述第一配重部与所述第二配重部连接以形成所述腔体。
根据某些实施例，所述支架包括与所述凸伸部连接的安装部，所述支架通过所述安装部安装在所述振动部件上。
根据某些实施例，所述支架设置有收容腔，所述收容腔收容所述配重部件的至少一部分；其中，所述第一运动平面形成于所述支架的收容腔的内壁上，所述间隙维持部件使得形成在所述收容腔的内壁上的第一运动平面与形成在所述配重部件上的第二运动平面按照所述预设间隙相对运动。
根据某些实施例，所述配重部件被密封地收容在所述收容腔内。
根据某些实施例，所述支架包括第一盖体和第二盖体，其中，所述第一盖体与所述第二盖体连接以形成所述收容腔。
根据某些实施例，所述支架包括安装部，所述第二盖体还包括至少一个支撑臂，所述支撑臂与所述安装部连接；所述支架通过所述安装部安装在所述振动部件上。
根据某些实施例，所述支架还包括锁紧部，所述锁紧部用于将所述安装部锁紧在所述振动部件上。
根据某些实施例，所述减振装置包括多个所述配重部件。
根据某些实施例，所述多个配重部件以对称分布的方式活动连接在所述支架上。
根据某些实施例，所述阻尼材料仅填充于所述第一运动平面与所述第二运动平面之间的间隙中。
根据本公开实施例的减振装置，不仅简化了减振装置的结构，而且可以在宽频范围内降低、甚至消除多个振动模态下的振动幅度，从而实现了较好的减振效果。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是根据本公开的一个实施例的减振装置的立体示意图；
图2是图1中示出的减振装置的剖视图；
图3是图1中示出的减振装置的支架的局部示意图；
图4(a)和图4(b)是示意性示出配重部件的可选分布方式的示意图；
图5是根据本公开的另一个实施例的减振装置的立体示意图；
图6是图5中示出的减振装置的立体示意图，其中示出了部分内部结构；
图7是图5中示出的减振装置的局部剖视图；
图8是图7中示出的减振装置的平面图；
图9是安装有根据本公开的实施例的减振装置的云台的立体示意图；以及
图10是安装有根据本公开的另一个实施例的减振装置的云台的立体示意图。
此外，各附图并不一定按比例来绘制，而是仅以不影响读者理解的示意性方式示出。
具体实施方式
根据结合附图对本公开示例性实施例的以下详细描述，本公开的其它方面、优势和突出特征对于本领域技术人员将变得显而易见。
在本公开中，下述用于描述本公开原理的各种实施例只是说明，不应该以任何方式解释为限制公开的范围。参照附图的下述描述用于帮助全面理解由权利要求及其等同物限定的本公开的示例性实施例。下述描述包括多种具体细节来帮助理解，但这些细节应认为仅仅是示例性的。因此，本领域普通技术人员应认识到，在不脱离本公开的范围和精神的情况下，可以对本文中描述的实施例进行多种改变和修改。此外，为了清楚和简洁起见，省略了公知功能和结构的描述。此外，贯穿附图，相同附图标记用于相同或相似的功能和操作。此外，尽管可能在不同实施例中描述了具有不同特征的方案，但是本领域技术人员应当意识到：可以将不同实施例的全部或部分特征相结合，以形成不脱离本公开的精神和范围的新的实施例。
本领域技术人员应理解，“振动模态”或“振动模态”是某一结构或部件的固有振动特性，每一个模态具有特定的固有频率、阻尼比和模态振型；当外加振动的振动频率或激励振动的振动频率等于该结构或部件的固有频率时，就会产生共振，具体的表现为振幅被放大，在本文中，该结构或部件共振下的振幅被描述为“共振振幅”。
本文中的表述“宽频”或“宽频范围”指的是多个振动模态的固有频率构成的频率范围，而不是某一个振动模态的单一固有频率。
在本公开中，某一部件的“运动平面”指的是该部件的可以相对于相邻部件相对运动的平面。
在本文中，为了描述方便，在描述减振装置时，建立了X-Y-Z坐标系以方便描述不同的方向。应该理解，这种方向性的表述仅是出于方便描述的目的，而不是对本公开实施例的限制。X方向、Y方向和Z方向可以是任何取向，只要它们三者之间相互垂直即可。例如，当将所述减振装置安装在云台上时，X方向可以平行于所 述云台的俯仰轴(pitch轴)，Y方向可以平行于所述云台的横滚轴(roll轴)，Z方向可以平行于所述云台的偏航轴(yaw轴)。
本公开所描述的技术可以应用在云台上，一般地，云台可以用于承载负载，例如成像装置，所述成像装置可以为相机、摄像机或镜头等。所述云台可以安装在可移动物体上，例如无人飞行器、可移动轨道车或无人车上。当所述云台由用户手持，此时所述云台就成为一种手持式设备。
参照图1和图2，示出了根据本公开的一个示例性实施例的减振装置10的示意图。该减振装置10可以包括：支架12、配重部件14和阻尼材料16，支架12可以安装在任何振动部件上，其中，所述振动部件是能够引起振动或者受到振动干扰的部件，配重部件14可以与支架12活动连接，当支架12受到振动时，配重部件14可以与支架12相对运动以带动设置在配重部件14与支架12之间的阻尼材料16流动。
根据上述实施例，当所述减振装置10被安装到振动部件上时，例如，当减振装置10的支架12安装到振动部件上的共振振幅较高或最高的位置上时，当振动部件振动时，支架12会跟随振动部件振动而振动。此时，由于配重部件14与支架12活动连接，又由于配重部件14自身的重量较大，在配重部件14的惯性作用下，配重部件14倾向于保持不动，所以支架12与配重部件14之间会产生相对运动，导致设置在配重部件14与支架12之间的阻尼材料16流动。这样，流动的阻尼材料16会吸收振动能量，从而降低、甚至消除了振动部件在该位置处的振动。此处应理解的是，配重部件14的重量越大，其由于惯性作用保持不动的能力就越强，那么支架12与配重部件14之间就越可能产生相对运动。
此外，传统的动力吸振器一般都至少包括质量块和弹簧，通过质量块的动力作用，使吸振器的弹簧在主系统上产生的作用力可以抵消部分或大部分作用在主系统上的外界激振力来削弱主系统振动，相当于把主系统的振动能量转移到了动力吸振器上。由于需要借助弹簧的作用，所以传统的动力吸振器通常用于吸收某一振动模态下的固有频率的振动，即其减振局限于单一的振动模态。相比较而言，在根据本公开原理的减振装置中，通过在相对运动的配重部件与支架之间设置阻尼材料，使得减振装置可以吸收宽频的振动。也就是说，根据本公开实施例的减振装置可以不包括弹簧，从而使得其不局限于仅吸收或降低某一个单一振动模态下的固有频率的 振动。
根据一个示例性的实施例，所述减振装置10还可以包括间隙维持部件18。并且，支架12包括至少一个第一运动平面121，配重部件14包括至少一个第二运动平面141，间隙维持部件18使得支架12的第一运动平面121与配重部件14的第二运动平面141按照预设间隙相对运动。也就是说，间隙维持部件18使得：当支架12的第一运动平面121与配重部件14的第二运动平面141之间相对运动时，支架12的第一运动平面121与配重部件14的第二运动平面141之间维持预设间隙。
在一个示例中，所述阻尼材料16可以包括半液体状的阻尼材料，例如阻尼脂。阻尼材料16可以设置在支架12的第一运动平面121和配重部件14的第二运动平面141之间。
具体地，如图2所示，当支架12跟随振动部件振动时，支架12至少沿图中的X方向相对于配重部件14运动，在垂直于X方向的Z方向上，配重部件14与支架12之间形成有间隙15，阻尼材料16填充于所述间隙15中。减振装置的间隙保持部件18用于维持间隙15沿Z方向的尺寸。这样，当配重部件14与支架12之间相对运动时，具体地，配重部件的第二运动平面141与支架12的第一运动平面121之间相对运动时，配重部件的第二运动平面141与支架12的第一运动平面121之间的间隙15可以维持在预设的尺寸。以此方式，填充于间隙15中的阻尼材料16的厚度维持在预设的尺寸，具有预设厚度的阻尼材料16可以为相对运动的配重部件的第二运动平面141与支架12的第一运动平面121提供预设的阻尼力。
根据某些实施例，间隙维持部件18可以为滚动部件或弹性部件。例如，所述滚动部件可以包括滚珠、滚针、滚柱中的至少一种。所述弹性部件可以包括弹簧或薄钢片等。
在图2示出的实施例中，间隙维持部件18为滚动部件，支架12的第一运动平面121设置有容置所述滚动部件的安装槽123，以及配重部件14的第二运动平面141上设置有容置所述滚动部件的安装槽143。一个安装槽123和对应的一个安装槽143配合形成接收或容纳一个所述滚动部件的接收部。为了形成间隙15，沿Z方向，安装槽123可以具有第一深度(即凹入尺寸)，对应的安装槽143可以具有第二深度(即凹入尺寸)，所述滚动部件可以具有第一厚度，所述滚动部件的第一厚度大于所述第一深度与所述第二深度之和。这样，所述滚动部件的第一厚度减去所述第一深度和 所述第二深度之和的差值，就形成了所述间隙15的预设尺寸。
在其它实施例中，也可以在支架12的第一运动平面121或配重部件14的第二运动平面141中的一个上设置容置所述滚动部件的安装槽，即仅在支架12的第一运动平面121上设置容置所述滚动部件的安装槽123或仅在重部件14的第二运动平面141上设置容置所述滚动部件的安装槽143。此时，所述滚动部件可以放置于安装槽123中或安装槽143中，而且，所述滚动部件的第一厚度大于所述安装槽123的第一深度或所述安装槽143的第二深度。通过这样的设置方式，仍然可以在第一运动平面121与第二运动平面141之间形成间隙15，并且所述滚动部件的第一厚度减去所述第一深度或所述第二深度的差值，就形成了所述间隙15的预设尺寸。
发明人研究发现，当所述间隙15的预设尺寸(即预设间隙)落入0.2～2mm的范围内时，位于所述间隙15中的阻尼材料16可以提供满足预设要求的阻尼力。而且，为了精确地控制阻尼材料16产生的阻尼力，阻尼材料16可以仅填充于支架12与配重部件14之间沿Z方向的间隙15中。
在某些实施例中，所述间隙维持部件18可以设置在支架12与配重部件14之间，例如，当所述间隙维持部件18为滚动部件时，所述滚动部件可以设置在支架12的第一运动平面121与配重部件14的第二运动平面141之间。
在另一些实施例中，例如，当所述间隙维持部件18为弹性部件(例如弹簧、薄钢片)时，所述弹性部件可以设置在除支架12的第一运动平面121与配重部件14的第二运动平面141之间之外的其它位置，只要所述弹性部件可以维持所述第一运动平面121与所述第二运动平面141之间的间隙15即可。此时，与上述滚动部件一样，所述弹性部件用于维持所述第一运动平面121与所述第二运动平面141之间的间隙15，以保证位于所述间隙15中的阻尼材料16可以提供满足预设要求的阻尼力。
进一步参考图2，支架12可以包括至少一个凸伸部122，配重部件14设置有腔体，所述腔体用于收容所述凸伸部122的至少一部分。例如，配重部件14可以包括第一配重部142和第二配重部144，所述第一配重部142与所述第二配重部144连接以形成所述腔体。
所述第一运动平面121可以形成于支架12的凸伸部122上，所述第二运动平面141可以形成于配重部件14的腔体的内壁上，所述间隙维持部件18使得形成在所述凸伸部122上的第一运动平面121与形成在所述腔体的内壁上的第二运动平面 141可以按照所述预设间隙相对运动。所述支架12还可以包括与所述凸伸部122连接的安装部124，所述支架12通过所述安装部124安装在所述振动部件上。
具体地，如图2所示，支架12可以包括两个凸伸部122，减振装置10可以包括两个配重部件14。所述两个凸伸部122分别自安装部124沿所述X方向延伸，所述两个配重部件14分别设置在所述两个凸伸部122远离所述安装部124的一侧上。即，两个凸伸部122和各自的配重部件14形成关于安装部124对称的对称结构。
每一个凸伸部122形成“悬臂”结构，如图所示，每一个凸伸部122具有两个第一运动平面121。每一个配重部件14包括第一配重部142和第二配重部144，第一配重部142面向第一运动平面121的表面构成一个第二运动平面141，第二配重部144面向另一个第一运动平面121的表面构成另一个第二运动平面141。一个第一运动平面121与其对应的一个第二运动平面141之间形成有间隙15，阻尼材料16填充于该间隙15中。另一个第一运动平面121与其对应的另一个第二运动平面141之间形成有另一间隙15，阻尼材料16也填充于该另一间隙15中。这样，通过在一个凸伸部122的上、下两侧都填充阻尼材料16，能够更好地为支架12与配重部件14之间的相对运动提供阻尼力，从而实现更好的减振效果。
图3示出了根据本公开的一个示例性实施例的支架12的一部分的示意图。如图3所示，其示出了凸伸部122具有“工”字型的悬臂结构，即凸伸部122具有两个平坦部1221、1222以及夹在两个平坦部之间的垂直间隔部1223。平坦部1221、1222上分别形成有第一运动平面121，在第一运动平面121上形成有所述安装槽123。通过采用这样的“工”字型结构，不仅保证支架具有较高的刚度，而且还能够尽量减小支架的重量，从而能够将更多的重量分配给所述配重部件，以有利于在所述支架与所述配重部件产生相对运动。
应该理解的是，支架12的安装部124可以形成为适于与所述振动部件的结构配合的各种结构。在图示的实施例中，安装部124形成为具有圆角三角形形状的封闭结构，以环绕并接合所述振动部件。
在其它实施例中，减振装置10可以包括更多个(例如多于两个)配重部件14。可选地，所述多个配重部件14以对称分布的方式活动连接在所述支架12上。例如，如图4(a)所示，其中的圆形图案示意性地表示支架的安装部，矩形图案示意性地表示配重部件14，减振装置可以包括4个配重部件14，每两个相邻的配重部件14 之间可以相隔90°。再例如，如图4(b)所示，减振装置可以包括3个配重部件14，每两个相邻的配重部件14之间相隔120°。通过这样的分布方式，当将所述减振装置安装于可能沿多个方向振动的振动部件上时，所述支架能够沿多个方向相对于所述配重部件运动，从而能够降低所述振动部件的沿多个方向的振动。
返回参照图2，支架12还可以包括锁紧部126，所述锁紧部126用于将所述安装124部锁紧在所述振动部件上。在一个示例中，所述锁紧部126可以包括操作部1262和接合部1264，所述接合部1264用于与所述减振部件接合，所述操作部1262能够被操作，以使得所述接合部1264释放和/或锁定所述减振部件。
在一个示例中，所述接合部1264可以为弧形形状，以适于与所述振动部件的轴接合。
参照图5-8示出了根据本公开的另一示例性实施例的减振装置20的示意图。如图5-8所示，该减振装置20可以包括：支架22、配重部件24和阻尼材料26，支架22可以安装在任何振动部件上，配重部件24可以与支架22活动连接，当支架22受到振动时，配重部件24可以与支架22相对运动以带动设置在配重部件24与支架22之间的阻尼材料26流动。
如图6所示，支架22可以设置有收容腔，所述收容腔收容所述配重部件24的至少一部分。在图示的实施例中，所述收容腔收容整个配重部件24。
根据一个示例性的实施例，所述减振装置20还可以包括间隙维持部件28。并且，支架22包括至少一个第一运动平面221，配重部件24包括至少一个第二运动平面241，间隙维持部件28使得支架22的第一运动平面221与配重部件24的第二运动平面241按照预设间隙相对运动。
在图示的实施例中，所述第一运动平面221可以形成于所述支架22的收容腔的内壁上，所述第二运动平面241可以形成在所述配重部件24的面向所述内壁的外表面上，所述间隙维持部件28使得形成在所述收容腔的内壁上的第一运动平面221与形成在所述配重部件24上的第二运动平面241按照所述预设间隙相对运动。
在一个示例中，所述阻尼材料26可以包括半液体状的阻尼材料，例如阻尼脂。阻尼材料26可以设置在支架22的第一运动平面221和配重部件24的第二运动平面241之间。
在某些实施例中，所述支架22可以包括第一盖体2251和第二盖体2252，其中， 所述第一盖体2251与所述第二盖体2252连接以形成所述收容腔。所述支架22还可以包括密封部件，以使得所述配重部件24被密封地收容在所述收容腔内，从而避免所述阻尼材料26受到外界水汽、灰尘等的污染。
在一个示例中，第一盖体2251和第二盖体2252以可拆卸的方式连接，例如，通过螺栓、螺钉等连接，这样，第一盖体2251和第二盖体2252可以被分开以打开所述收容腔，或者可以被接合以闭合所述收容腔。
进一步地，所述支架22可以包括用于安装至所述振动部件上的安装部224，所述第二盖体2252可以包括至少一个支撑臂，例如，两个支撑臂2281、2282，所述支撑臂2281、2282均与安装部224连接。
安装部224的形状可以与上述安装部124的形状类似，在此不再赘述。
在一个示例中，所述第二盖体2252和所述支撑臂2281、2282可以一体形成，所述支撑臂2281、2282通过螺栓等连接方式连接至安装部224。如图所示，第二盖体2252和两个支撑臂2281、2282可以形成类似“C”形的结构，安装部224被夹在“C”形结构的开口之间。
在该实施例中，间隙维持部件28也可以为滚动部件或弹性部件。例如，所述滚动部件可以包括滚珠、滚针、滚柱中的至少一种。所述弹性部件可以包括弹簧或薄钢片等。
与上面的实施例类似，在图示的实施例中，间隙维持部件28为滚动部件，支架22的第一运动平面221设置有容置所述滚动部件的安装槽，以及配重部件24的第二运动平面241上设置有容置所述滚动部件的安装槽。第一运动平面221设置的一个安装槽和对应的第二运动平面241设置的一个安装槽配合形成接收或容纳一个所述滚动部件的接收部。为了形成间隙25，沿Z方向，第一运动平面221上的安装槽可以具有第一深度(即凹入尺寸)，第二运动平面241上的对应的安装槽可以具有第二深度(即凹入尺寸)，所述滚动部件可以具有第一厚度，所述滚动部件的第一厚度大于所述第一深度与所述第二深度之和。这样，所述滚动部件的第一厚度减去所述第一深度和所述第二深度之和的差值，就形成了所述间隙25的预设尺寸。
在其它实施例中，也可以在支架22的第一运动平面221或配重部件24的第二运动平面241中的一个上设置容置所述滚动部件的安装槽，即仅在支架22的第一运动平面221上设置容置所述滚动部件的安装槽或仅在重部件24的第二运动平面241 上设置容置所述滚动部件的安装槽。此时，所述滚动部件可以放置于所述支架的安装槽中或所述配重部件的安装槽中，而且，所述滚动部件的第一厚度大于所述支架的安装槽的第一深度或所述配重部件的安装槽的第二深度。通过这样的设置方式，仍然可以在第一运动平面221与第二运动平面241之间形成间隙25，并且所述滚动部件的第一厚度减去所述第一深度或所述第二深度的差值，就形成了所述间隙25的预设尺寸。
发明人研究发现，当所述间隙25的预设尺寸(即预设间隙)落入0.2～2mm的范围内时，位于所述间隙25中的阻尼材料26可以提供满足预设要求的阻尼力。而且，为了精确地控制阻尼材料26产生的阻尼力，阻尼材料26可以仅填充于支架22与配重部件24之间沿Z方向的间隙25中，而不填充于支架22与配重部件24之间的其它间隙中。
在某些实施例中，所述间隙维持部件28可以设置在支架22与配重部件24之间，例如，当所述间隙维持部件28为滚动部件时，所述滚动部件可以设置在支架22的第一运动平面221与配重部件24的第二运动平面241之间。
在另一些实施例中，例如，当所述间隙维持部件28为弹性部件(例如弹簧、薄钢片)时，所述弹性部件可以设置在除支架22的第一运动平面221与配重部件24的第二运动平面241之间之外的其它位置，只要所述弹性部件可以维持所述第一运动平面221与所述第二运动平面241之间的间隙25即可。
具体地，第一盖体2251面向配重部件24的内表面和第二盖体2252面向配重部件24的内表面分别形成所述支架的第一运动平面221。配重部件24与两个运动平面221相对的表面(即图8中示出的配重部件24的上、下表面)分别形成第二运动平面241。这样，一个第一运动平面221(例如，第一盖体2051的内表面)与其对应的一个第二运动平面241(例如，配重部件24的上表面)之间形成有间隙25，阻尼材料26填充于该间隙25中。另一个第一运动平面221(例如，第二盖体2052的内表面)与其对应的另一个第二运动平面241(例如，配重部件24的下表面)之间形成有另一间隙25，阻尼材料26也填充于该另一间隙25中。这样，通过在一个配重部件24的上、下两侧都填充阻尼材料26，能够更好地为支架22与配重部件24之间的相对运动提供阻尼力，从而实现更好的减振效果。
在某些实施例中，当所述间隙保持部件28为滚珠时，在一个第一运动平面221 与其对应的第二运动平面241之间，可以设置有至少3个所述滚珠。由于3个滚珠可以确定一个平面，所以可以保证在整个第一运动平面221与其对应的第二运动平面241之间形成一致的间隙。在图示的实施例中，例如，在一个第一运动平面221与其对应的第二运动平面241之间，可以设置有8个所述滚珠。应该理解的是，当所述间隙保持部件28为滚针或滚柱时，可以设置少于3个的所述滚针或滚柱，仍能够保证在整个第一运动平面221与其对应的第二运动平面241之间形成一致的间隙。
返回参照图8，支架22还可以包括锁紧部226，所述锁紧部226用于将所述安装224部锁紧在所述振动部件上。在一个示例中，所述锁紧部226可以包括操作部2262和接合部2264，所述接合部2264用于与所述减振部件接合，所述操作部2262能够被操作，以使得所述接合部2264释放和/或锁定所述减振部件。
上文结合附图描述了根据本公开的实施例的减振装置10、20，下面，将结合具体应用场合进一步描述本公开的实施例。
根据本公开的实施例，所述减振装置10可以安装在云台100上，如图9所示。所述云台100至少包括偏航轴臂1002和承载部件。所述承载部件包括横滚轴臂、与横滚轴臂连接的俯仰轴臂中的至少一种。在图示的实施例中，所述承载部件包括横滚轴臂1004和与横滚轴臂1004连接的俯仰轴臂1006。所述承载部件用于承载负载，例如相机1010。需要说明的是，云台100的其它结构可以参照现有技术中的云台结构，在此不再赘述。
经发明人研究发现，在使用所述云台100进行拍摄时，所述偏航轴臂1002的振动幅度较大，并且，在偏航轴臂1002上远离承载部件的端部1002A处，振动幅度较大的现象尤其明显。因此，在本公开的实施例中，如图9所示，根据本公开实施例的减振装置10设置在偏航轴臂1002上。具体地，所述承载部件设置在所述偏航轴臂1002的一个端部1002B上，所述减振装置10设置在所述偏航轴臂1002上远离所述承载部件的另一端部1002A上。通过这样的设置方式，减振装置10可以较好地吸收或减小、甚至消除偏航轴臂1002的振动。特别地，由于减振装置10设置在端部1002A处，所以可以充分地吸收或减小、甚至消除偏航轴臂1002的端部处的振动，从而较好地解决偏航轴臂的振动幅度较大的问题。在此基础上，所述减振装置10可以最大限度地减小、甚至消除云台100的较大振动幅度的振动，从而实现较好的减振效果，有利于提高影像拍摄质量。
并且，由于云台是多框架串联结构，云台本身存在大量振动模态，所以，根据本公开实施例的减振装置尤其适合用于云台，以降低所述云台的多个振动模态下的固有频率的共振振幅，从而给云台提供有效的减振效果。
进一步地，在某些实施例中，云台100还可以包括偏航轴平衡调整装置1012，在某些实施例中，偏航轴平衡调整装置1012也可以用来安装电池，即其形成电池座，设置在偏航轴臂1002上的减振装置10和偏航轴平衡调整装置1012可以分别设置在偏航轴的两侧，即yaw轴轴线的两侧。这样，可以更好地实现偏航轴臂的平衡，从而更好地保证云台的平衡。
根据本公开的又一实施例，所述减振装置20也可以安装在云台200上，如图10所示。所述云台200至少包括偏航轴臂2002和承载部件。所述承载部件包括横滚轴臂、与横滚轴臂连接的俯仰轴臂中的至少一种。在图示的实施例中，所述承载部件包括横滚轴臂2004和与横滚轴臂2004连接的俯仰轴臂2006。所述承载部件用于承载负载，例如相机2010。需要说明的是，云台200的其它结构可以参照现有技术中的云台结构，在此不再赘述。
经发明人研究发现，在使用所述云台200进行拍摄时，所述偏航轴臂2002的振动幅度较大，并且，在偏航轴臂2002上远离承载部件的端部2002A处，振动幅度较大的现象尤其明显。因此，在本公开的实施例中，如图10所示，根据本公开实施例的减振装置20设置在偏航轴臂2002上。具体地，所述承载部件设置在所述偏航轴臂2002的一个端部2002B上，所述减振装置20设置在所述偏航轴臂2002上远离所述承载部件的另一端部2002A上。通过这样的设置方式，减振装置20可以较好地吸收或减小、甚至消除偏航轴臂2002的振动。特别地，由于减振装置20设置在端部2002A处，所以可以充分地吸收或减小、甚至消除偏航轴臂2002的端部处的振动，从而较好地解决偏航轴臂的振动幅度较大的问题。在此基础上，所述减振装置20可以最大限度地减小、甚至消除云台200的较大振动幅度的振动，从而实现较好的减振效果，有利于提高影像拍摄质量。
并且，由于云台是多框架串联结构，云台本身存在大量振动模态，所以，根据本公开实施例的减振装置尤其适合用于云台，以降低所述云台的多个振动模态下的固有频率的共振振幅，从而给云台提供有效的减振效果。
进一步地，在某些实施例中，云台200还可以包括偏航轴平衡调整装置2012， 在某些实施例中，偏航轴平衡调整装置2012也可以用来安装电池，即其形成电池座，设置在偏航轴臂2002上的减振装置20和偏航轴平衡调整装置2012可以分别设置在偏航轴的两侧，即yaw轴轴线的两侧。这样，可以更好地实现偏航轴臂的平衡，从而更好地保证云台的平衡。
根据其它实施例，提供一种云台系统，所述云台系统包括上述云台100、200以及上述的减振装置10、20。
在一个示例中，所述云台系统可以包括至少2个所述减振装置10、20，所述至少2个所述减振装置10、20中的至少一个设置在所述偏航轴臂1002、2002上。
在另一个示例中，所述云台系统可以包括3个所述减振装置10、20，所述3个所述减振装置10、20分别设置在所述偏航轴臂1002/2002、横滚轴臂1004/2004和俯仰轴臂1006/2006上。
根据上述实施例，通过在所述云台上设置根据本公开实施例的减振装置，可以在宽频范围内降低多个振动模态的振动幅度，提高了所述云台的主动振动抑制性能，从而降低了所述云台对振动干扰的敏感性。
尽管已经参照本公开的特定示例性实施例示出并描述了本公开，但是本领域技术人员应该理解，在不背离所附权利要求及其等同物限定的本公开的精神和范围的情况下，可以对本公开进行形式和细节上的多种改变。因此，本公开的范围不应该限于上述实施例，而是应该不仅由所附权利要求来进行确定，还由所附权利要求的等同物来进行限定。

Claims (39)

  1. 一种云台的减振装置，包括：配重部件、支架和阻尼材料，其特征在于，
    所述支架安装在所述云台上；
    所述配重部件与所述支架活动连接；
    当所述支架受到振动时，所述配重部件与所述支架相对运动以带动设置在所述配重部件与所述支架之间的阻尼材料流动。
  2. 根据权利要求1所述的减振装置，其特征在于，所述支架安装在所述云台的偏航轴臂上。
  3. 根据权利要求2所述的减振装置，其特征在于，所述支架安装在所述偏航轴臂上远离所述云台的横滚轴臂的一端上。
  4. 根据权利要求1-3中任一项所述的减振装置，其特征在于，所述阻尼材料包括阻尼脂。
  5. 根据权利要求1-4中任一项所述的减振装置，其特征在于，所述减振装置还包括间隙维持部件，
    其中，所述支架包括至少一个第一运动平面，所述配重部件包括至少一个第二运动平面，所述间隙维持部件使得所述支架的第一运动平面与所述配重部件的第二运动平面按照预设间隙相对运动。
  6. 根据权利要求5所述的减振装置，其特征在于，所述间隙维持部件为滚动部件或弹性部件。
  7. 根据权利要求6所述的减振装置，其特征在于，当所述间隙维持部件为滚动部件时，所述支架的至少一个第一运动平面和/或配重部件的至少一个第二运动平面上设置有容置所述滚动部件的安装槽。
  8. 根据权利要求6或7所述的减振装置，其特征在于，所述滚动部件包括滚珠、滚针、滚柱中的至少一种。
  9. 根据权利要求5-8中任一项所述的减振装置，其特征在于，所述阻尼材料设置在所述支架的第一运动平面和所述配重部件的第二运动平面之间。
  10. 根据权利要求5-9中任一项所述的减振装置，其特征在于，所述支架包括至少一个凸伸部，所述配重部件设置有腔体，其中所述腔体收容所述凸伸部的至少一部分；
    其中，所述第一运动平面形成于所述支架的凸伸部上，所述第二运动平面形成于所述配重部件的腔体的内壁上，所述间隙维持部件使得形成在所述凸伸部上的第一运动平面与形成在所述腔体的内壁上的第二运动平面按照所述预设间隙相对运动。
  11. 根据权利要求10所述的减振装置，其特征在于，所述配重部件包括第一配重部和第二配重部，其中所述第一配重部与所述第二配重部连接以形成所述腔体。
  12. 根据权利要求10或11所述的减振装置，其特征在于，所述支架包括与所述凸伸部连接的安装部，所述支架通过所述安装部安装在所述云台上。
  13. 根据权利要求5-9中任一项所述的减振装置，其特征在于，所述支架设置有收容腔，所述收容腔收容所述配重部件的至少一部分；
    其中，所述第一运动平面形成于所述支架的收容腔的内壁上，所述间隙维持部件使得形成在所述收容腔的内壁上的第一运动平面与形成在所述配重部件上的第二运动平面按照所述预设间隙相对运动。
  14. 根据权利要求13所述的减振装置，其特征在于，所述配重部件被密封地收容在所述收容腔内。
  15. 根据权利要求13或14所述的减振装置，其特征在于，所述支架包括第一盖体和第二盖体，其中，所述第一盖体与所述第二盖体连接以形成所述收容腔。
  16. 根据权利要求15所述的减振装置，其特征在于，所述支架包括安装部，所述第二盖体还包括至少一个支撑臂，所述支撑臂与所述安装部连接；
    所述支架通过所述安装部安装在所述云台上。
  17. 根据权利要求12或16所述的减振装置，其特征在于，所述支架还包括锁紧部，所述锁紧部用于将所述安装部锁紧在所述云台上。
  18. 根据权利要求1-17中任一项所述的减振装置，其特征在于，所述减振装置包括多个所述配重部件。
  19. 根据权利要求18所述的减振装置，其特征在于，所述多个配重部件以对称分布的方式活动连接在所述支架上。
  20. 一种云台系统，所述云台系统包括云台和减振装置，其特征在于，
    所述云台包括偏航轴臂和承载部件；
    所述承载部件设置在所述偏航轴臂的一个端部上；
    所述减振装置设置在所述偏航轴臂上远离所述承载部件的另一端部上。
  21. 根据权利要求20所述的云台系统，其特征在于，所述减振装置用于吸收或减小所述偏航轴臂的振动。
  22. 根据权利要求20或21所述的云台系统，其特征在于，所述承载部件包括横滚轴臂、与横滚轴臂连接的俯仰轴臂中的至少一种。
  23. 根据权利要求20-22中任一项所述的云台系统，其特征在于，所述减振装置包括配重部件、支架和阻尼材料，
    其中，所述支架安装在所述云台上；
    所述配重部件与所述支架活动连接；
    当所述支架受到振动时，所述配重部件与所述支架相对运动以带动设置在所述配重部件与所述支架之间的阻尼材料流动。
  24. 根据权利要求23所述的云台系统，其特征在于，所述阻尼材料包括阻尼脂。
  25. 根据权利要求23或24所述的云台系统，其特征在于，所述减振装置还包括间隙维持部件，
    其中，所述支架包括至少一个第一运动平面，所述配重部件包括至少一个第二运动平面，所述间隙维持部件使得所述支架的第一运动平面与所述配重部件的第二运动平面按照预设间隙相对运动。
  26. 根据权利要求25所述的云台系统，其特征在于，所述间隙维持部件为滚动部件或弹性部件。
  27. 根据权利要求26所述的云台系统，其特征在于，当所述间隙维持部件为滚动部件时，所述支架的至少一个第一运动平面和/或配重部件的至少一个第二运动平面上设置有容置所述滚动部件的安装槽。
  28. 根据权利要求26或27所述的云台系统，其特征在于，所述滚动部件包括滚珠、滚针、滚柱中的至少一种。
  29. 根据权利要求25-28中任一项所述的云台系统，其特征在于，所述阻尼材料设置在所述支架的第一运动平面和所述配重部件的第二运动平面之间。
  30. 根据权利要求25-29中任一项所述的云台系统，其特征在于，所述支架包括至少一个凸伸部，所述配重部件设置有腔体，其中所述腔体收容所述凸伸部的至少一部分；
    其中，所述第一运动平面形成于所述支架的凸伸部上，所述第二运动平面形成于所述配重部件的腔体的内壁上，所述间隙维持部件使得形成在所述凸伸部上的第一运动平面与形成在所述腔体的内壁上的第二运动平面按照所述预设间隙相对运动。
  31. 根据权利要求30所述的云台系统，其特征在于，所述配重部件包括第一配重部和第二配重部，其中所述第一配重部与所述第二配重部连接以形成所述腔体。
  32. 根据权利要求30或31所述的云台系统，其特征在于，所述支架包括与所述凸伸部连接的安装部，所述支架通过所述安装部安装在所述云台上。
  33. 根据权利要求25-29中任一项所述的云台系统，其特征在于，所述支架设置有收容腔，所述收容腔收容所述配重部件的至少一部分；
    其中，所述第一运动平面形成于所述支架的收容腔的内壁上，所述间隙维持部件使得形成在所述收容腔的内壁上的第一运动平面与形成在所述配重部件上的第二运动平面按照所述预设间隙相对运动。
  34. 根据权利要求33所述的云台系统，其特征在于，所述配重部件被密封地收容在所述收容腔内。
  35. 根据权利要求33或34所述的云台系统，其特征在于，所述支架包括第一盖体和第二盖体，其中，所述第一盖体与所述第二盖体连接以形成所述收容腔。
  36. 根据权利要求35所述的云台系统，其特征在于，所述支架包括安装部，所述第二盖体还包括至少一个支撑臂，所述支撑臂与所述安装部连接；
    所述支架通过所述安装部安装在所述云台上。
  37. 根据权利要求32或36所述的云台系统，其特征在于，所述支架还包括锁紧部，所述锁紧部用于将所述安装部锁紧在所述云台上。
  38. 根据权利要求23-37中任一项所述的云台系统，其特征在于，所述减振装置包括多个所述配重部件。
  39. 根据权利要求38所述的云台系统，其特征在于，所述多个配重部件以对称分布的方式活动连接在所述支架上。
PCT/CN2017/099933 2017-08-31 2017-08-31 减振装置和云台系统 WO2019041232A1 (zh)

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